import rosbag
from colorama import Fore, Style
import os
import sys
import warnings
import def_function
from datetime import datetime

# 获取当前脚本的完整路径
script_path = os.path.abspath(sys.argv[0])
# 从完整路径中获取目录
script_dir = os.path.dirname(script_path)
# 从完整路径中分离出文件名
script_name = os.path.basename(script_path)
# 使用 splitext() 函数分离文件名和扩展名
script_name_without_extension, extension = os.path.splitext(script_name)

print(Fore.YELLOW+f"python script name:", sys.argv[0])
if os.getenv('DEBUG') == 'true':
    python_param = '/mnt/01_code/python/rosbag_analysis/dataspace/ROCKY/PL036146_event_dbw_disabled_takeover_20230904-104601_0_filter.bag'
else:
    if len(sys.argv)!=2:
        print(Fore.RED+f"you need python params!")
        sys.exit()
    python_param = script_dir + "/" + sys.argv[1]
    if os.path.isabs(sys.argv[1]):
        python_param = sys.argv[1]
rosbag_data = rosbag.Bag(python_param)

# 获取类型和主题信息
# rosbag_info = rosbag_data.get_type_and_topic_info()
# info.topics 是一个字典，它的键是 topic 的名字
# all_topics = list(rosbag_info.topics.keys())
topics = ['/vehicle/chassis_report', '/vehicle/wheel_report']

error_msg = ""
record_time = 0.0
start_time = 0.0
end_time = 0.0
# 创建一个 ValueJudge 对象
judge = def_function.judge_value.ValueJudge()

standstill = None
wheel_position_stanstill = None
wheel_position_front_left = None
wheel_position_front_right = None
wheel_position_rear_left = None
wheel_position_rear_right = None
wheel_position_front_left_delta = 0
wheel_position_front_right_delta = 0
wheel_position_rear_left_delta = 0
wheel_position_rear_right_delta = 0
arry_error_info = list()
dict_error_info = dict()
dict_judge = dict()
for msg_topic, msg, t in rosbag_data.read_messages(topics=topics):
    if msg_topic == '/vehicle/chassis_report':
        standstill = msg.brake_info_report.brake_info_report_data.stationary
    if msg_topic == '/vehicle/wheel_report':
        if wheel_position_front_left is None:
            wheel_position_front_left = msg.wheel_position_report.wheel_position_report_data.front_left
        else:
            wheel_position_front_left_delta = msg.wheel_position_report.wheel_position_report_data.front_left - wheel_position_front_left
            wheel_position_front_left = msg.wheel_position_report.wheel_position_report_data.front_left
        
        if wheel_position_front_right is None:
            wheel_position_front_right = msg.wheel_position_report.wheel_position_report_data.front_right
        else:
            wheel_position_front_right_delta = msg.wheel_position_report.wheel_position_report_data.front_right - wheel_position_front_right
            wheel_position_front_right = msg.wheel_position_report.wheel_position_report_data.front_right

        if wheel_position_rear_left is None:
            wheel_position_rear_left = msg.wheel_position_report.wheel_position_report_data.rear_left
        else:
            wheel_position_rear_left_delta = msg.wheel_position_report.wheel_position_report_data.rear_left - wheel_position_rear_left
            wheel_position_rear_left = msg.wheel_position_report.wheel_position_report_data.rear_left

        if wheel_position_rear_right is None:
            wheel_position_rear_right = msg.wheel_position_report.wheel_position_report_data.rear_right
        else:
            wheel_position_rear_right_delta = msg.wheel_position_report.wheel_position_report_data.rear_right - wheel_position_rear_right
            wheel_position_rear_right = msg.wheel_position_report.wheel_position_report_data.rear_right
    
    if 0 != wheel_position_front_left_delta or 0 != wheel_position_front_right_delta  or 0 != wheel_position_rear_left_delta or 0 != wheel_position_rear_right_delta:
        wheel_position_stanstill = False
    else:
        wheel_position_stanstill = True

    if standstill is None or wheel_position_stanstill is None:
        continue
    error_type = "车辆静止信号未与轮速脉冲静止状态不能保持一致"
    keep_time = 0.3
    judge_condition = "车辆静止信号未与轮速脉冲静止状态不相等持续时间" + str(keep_time) + "秒"
    result = judge.timeout(t.to_sec(), standstill, wheel_position_stanstill, keep_time, "!=");
    message = "[" + error_type + "{" + judge_condition + "}]" + "车辆静止[" + str(standstill) + "],脉冲静止[" + str(wheel_position_stanstill) + "]"
    def_function.class_data.update_error_info(t.to_sec(), result, message, dict_error_info, error_type, arry_error_info)

################################################################################################
rosbag_data.close()
list_print = list()
for value in dict_error_info.values():
    if (0 != value.start_time and 0 == value.end_time):
        list_print.append("[" + str(value.start_time) + "-" + "bag_end]" + value.message)
for item in arry_error_info:
    list_print.append("[" + str(item.start_time) + "-" + str(item.end_time) + "@diff:" + "{:.3f}".format(item.end_time - item.start_time) + "]" + item.message)
if list_print:
    print(Fore.RED+f"", script_name_without_extension)
for item in list_print:
    print(Fore.CYAN+f"", item)